Examination arrangement

Course content

Kinematics: Screw theory. Projective geometry in 2D and 3D. Points, lines and planes in Plücker coordinates. Determination of rotations in SO(3) and displacements in SE(3) from measurements by using optimization methods. Robot vision: Camera models and calibration. RANSAC. Homographies in 2D and 3D: Properties and computation. Stereo vision with calibrated and uncalibrated cameras. Auto calibration. Point clouds and iterative closest point.

Learning outcome

The course shall give knowledge about:
- Advanced kinematics for the description and numerical determination of geometric objects like points, lines and planes.
– Computation of rotation in SO(3) and displacements in SE(3) from measurements.
- Geometric methods for use in robotic vision.

The course shall develop skills in:
- Programming in MATLAB/Python to compute the position and orientation of geometric objects.
- Programming in MATLAB/Python of computational methods in 2D and 3D vision.
- Integration of CAD, offline simulation and programming of robots.

The course shall give competence in:
- Design and implementation of robotic vision for industrial applications.

Learning methods and activities

Lectures, exercises, laboratory exercises. The lectures and exercises are in English when students who do not speak Norwegian take the course. If the teaching is given in English the Examination papers will be given in English only. Students are free to choose Norwegian or English for written assessments.

Compulsory assignments

• Laboratory Exercises
• Exercises

Further on evaluation

Mandatory work from previous semester can be accepted by the Department by re-take of an examination if there haven't been any significant changes later. If there is a re-sit examination, the examination form may be changed from written to oral.

Specific conditions

Recommended previous knowledge

TPK4170 Robotics or similar.

Course materials

To be announced at the start of the course